cmake_minimum_required(VERSION 2.8.7)

project(zed_wrapper)

# if CMAKE_BUILD_TYPE is not specified, take 'Release' as default
IF(NOT CMAKE_BUILD_TYPE)
    SET(CMAKE_BUILD_TYPE Release)
ENDIF(NOT CMAKE_BUILD_TYPE)

find_package(ZED 1.1 REQUIRED)

##For Jetson, OpenCV4Tegra is based on OpenCV2.4
exec_program(uname ARGS -p OUTPUT_VARIABLE CMAKE_SYSTEM_NAME2)
if ( CMAKE_SYSTEM_NAME2 MATCHES "aarch64" ) # X1
    SET(OCV_VERSION "2.4")
    SET(CUDA_VERSION "7.0")
elseif(CMAKE_SYSTEM_NAME2 MATCHES "armv7l" ) # K1
    SET(OCV_VERSION "2.4")
    SET(CUDA_VERSION "6.5")
else() # Desktop
    SET(OCV_VERSION "3.1")
    SET(CUDA_VERSION "7.5")
endif()

find_package(OpenCV ${OCV_VERSION} COMPONENTS core highgui imgproc REQUIRED)
find_package(CUDA ${CUDA_VERSION} REQUIRED)

find_package(PCL REQUIRED)

find_package(catkin REQUIRED COMPONENTS
  image_transport
  roscpp
  rosconsole
  sensor_msgs
  dynamic_reconfigure
  tf2_ros
  pcl_conversions
)

generate_dynamic_reconfigure_options(
  cfg/Zed.cfg
)

catkin_package(
  CATKIN_DEPENDS
    roscpp
    rosconsole
    sensor_msgs
    opencv
    image_transport
    dynamic_reconfigure
    tf2_ros
    pcl_conversions
)

###############################################################################
# INCLUDES

# Specify locations of header files.
include_directories(
	${catkin_INCLUDE_DIRS}
	${CUDA_INCLUDE_DIRS}
	${ZED_INCLUDE_DIRS}
	${OpenCV_INCLUDE_DIRS}
	${PCL_INCLUDE_DIRS}
)

link_directories(${ZED_LIBRARY_DIR})
link_directories(${CUDA_LIBRARY_DIRS})
link_directories(${OpenCV_LIBRARY_DIRS})
link_directories(${PCL_LIBRARY_DIRS})

###############################################################################

###############################################################################
# EXECUTABLE

add_definitions(-std=c++11)# -m64) #-Wall)


add_executable(
  zed_wrapper_node
  src/zed_wrapper_node.cpp
)

target_link_libraries(
        zed_wrapper_node
        ${catkin_LIBRARIES}
        ${ZED_LIBRARIES}
	${CUDA_LIBRARIES} ${CUDA_nppi_LIBRARY} ${CUDA_npps_LIBRARY}
        ${OpenCV_LIBS}
        ${PCL_LIBRARIES}
    )

add_dependencies(zed_wrapper_node ${PROJECT_NAME}_gencfg)
###############################################################################

#Add all files in subdirectories of the project in
# a dummy_target so qtcreator have access to all files
FILE(GLOB_RECURSE extra_files ${CMAKE_SOURCE_DIR}/*)
add_custom_target(dummy_${PROJECT_NAME} SOURCES ${extra_files})
